mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-03 22:50:05 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
fdd8afc542 |
@@ -9,10 +9,10 @@ pipeline {
|
||||
script {
|
||||
def build_nodes = [:]
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def docker_images = [
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armhf: "px4io/px4-dev-armhf:2021-09-08",
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arm64: "px4io/px4-dev-aarch64:2021-09-08",
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base: "px4io/px4-dev-base-bionic:2021-09-08",
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nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
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armhf: "px4io/px4-dev-armhf:2021-05-04",
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arm64: "px4io/px4-dev-aarch64:2021-05-04",
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base: "px4io/px4-dev-base-bionic:2021-05-04",
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nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
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]
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def armhf_builds = [
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@@ -38,10 +38,6 @@ pipeline {
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"airmind_mindpx-v2_default",
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"ark_can-flow_canbootloader",
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"ark_can-flow_default",
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"ark_can-gps_canbootloader",
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"ark_can-gps_default",
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"ark_can-rtk-gps_canbootloader",
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"ark_can-rtk-gps_default",
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"atl_mantis-edu_default",
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"av_x-v1_default",
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"bitcraze_crazyflie_default",
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@@ -131,7 +127,7 @@ pipeline {
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// TODO: actually upload artifacts to S3
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// stage('S3 Upload') {
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// agent {
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// docker { image 'px4io/px4-dev-base-focal:2021-09-08' }
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// docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
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// }
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// options {
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// skipDefaultCheckout()
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+188
-271
@@ -12,12 +12,16 @@ pipeline {
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stage("build cubepilot_cubeorange_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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image 'px4io/px4-dev-nuttx-focal:2021-05-04'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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checkoutSCM()
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checkout scm
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make cubepilot_cubeorange_test'
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sh 'make cubepilot_cubeorange_test bootloader_elf'
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sh 'ccache -s'
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@@ -59,7 +63,7 @@ pipeline {
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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}
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}
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stage("print topics") {
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@@ -67,11 +71,7 @@ pipeline {
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printTopics()
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}
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}
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}
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post {
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always {
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resetBoard()
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}
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}
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} // stage test
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}
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@@ -82,12 +82,16 @@ pipeline {
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stage("build cuav_x7pro_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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image 'px4io/px4-dev-nuttx-focal:2021-05-04'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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checkoutSCM()
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checkout scm
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make cuav_x7pro_test'
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sh 'make cuav_x7pro_test bootloader_elf'
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sh 'ccache -s'
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@@ -135,11 +139,7 @@ pipeline {
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printTopics()
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}
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}
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}
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post {
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always {
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resetBoard()
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}
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}
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} // stage test
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}
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@@ -150,12 +150,16 @@ pipeline {
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stage("build px4_fmu-v3_test") {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-09-08'
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args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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image 'px4io/px4-dev-nuttx-focal:2021-05-04'
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||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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||||
}
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||||
steps {
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||||
checkoutSCM()
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checkout scm
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sh 'export'
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sh 'make distclean'
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sh 'ccache -s'
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sh 'git fetch --tags'
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sh 'make px4_fmu-v3_test'
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sh 'make px4_fmu-v3_test bootloader_elf'
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sh 'ccache -s'
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@@ -195,7 +199,8 @@ pipeline {
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sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
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checkStatus()
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quickCalibrate()
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
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}
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||||
}
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stage("print topics") {
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@@ -203,11 +208,7 @@ pipeline {
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||||
printTopics()
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||||
}
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||||
}
|
||||
}
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||||
post {
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||||
always {
|
||||
resetBoard()
|
||||
}
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||||
|
||||
}
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} // stage test
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||||
}
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||||
@@ -218,12 +219,16 @@ pipeline {
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||||
stage("build px4_fmu-v4_test") {
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||||
agent {
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||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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||||
}
|
||||
}
|
||||
steps {
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||||
checkoutSCM()
|
||||
checkout scm
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||||
sh 'export'
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||||
sh 'make distclean'
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||||
sh 'ccache -s'
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sh 'git fetch --tags'
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||||
sh 'make px4_fmu-v4_test'
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||||
sh 'make px4_fmu-v4_test bootloader_elf'
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||||
sh 'ccache -s'
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@@ -270,11 +275,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -285,12 +286,16 @@ pipeline {
|
||||
stage("build px4_fmu-v4pro_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v4pro_test'
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||||
sh 'make px4_fmu-v4pro_test bootloader_elf'
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||||
sh 'ccache -s'
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||||
@@ -330,7 +335,7 @@ pipeline {
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
checkStatus()
|
||||
quickCalibrate()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
}
|
||||
stage("print topics") {
|
||||
@@ -338,11 +343,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -353,12 +354,16 @@ pipeline {
|
||||
stage("build px4_fmu-v5_debug") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v5_debug'
|
||||
sh 'make px4_fmu-v5_debug bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
@@ -387,22 +392,14 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
|
||||
// flash board and watch bootup
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
|
||||
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
|
||||
}
|
||||
}
|
||||
stage("tests") {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
}
|
||||
}
|
||||
@@ -414,7 +411,6 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
@@ -424,11 +420,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -439,12 +431,16 @@ pipeline {
|
||||
stage("build px4_fmu-v5_optimized") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v5_optimized'
|
||||
sh 'make px4_fmu-v5_optimized bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
@@ -492,11 +488,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -507,12 +499,16 @@ pipeline {
|
||||
stage("build px4_fmu-v5_stackcheck") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v5_stackcheck'
|
||||
sh 'make px4_fmu-v5_stackcheck bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
@@ -548,7 +544,7 @@ pipeline {
|
||||
steps {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
}
|
||||
}
|
||||
@@ -560,7 +556,6 @@ pipeline {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
checkStatus()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
|
||||
}
|
||||
@@ -570,11 +565,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -585,12 +576,16 @@ pipeline {
|
||||
stage("build px4_fmu-v5_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make px4_fmu-v5_test'
|
||||
sh 'make px4_fmu-v5_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
@@ -638,11 +633,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -653,8 +644,8 @@ pipeline {
|
||||
// stage("build modalai_fc-v1_test") {
|
||||
// agent {
|
||||
// docker {
|
||||
// image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
// args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
// image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
// }
|
||||
// }
|
||||
// steps {
|
||||
@@ -720,12 +711,16 @@ pipeline {
|
||||
stage("build nxp_fmuk66-v3_test") {
|
||||
agent {
|
||||
docker {
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-09-08'
|
||||
args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
image 'px4io/px4-dev-nuttx-focal:2021-05-04'
|
||||
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
||||
}
|
||||
}
|
||||
steps {
|
||||
checkoutSCM()
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'ccache -s'
|
||||
sh 'git fetch --tags'
|
||||
sh 'make nxp_fmuk66-v3_test'
|
||||
//sh 'make nxp_fmuk66-v3_test bootloader_elf'
|
||||
sh 'ccache -s'
|
||||
@@ -761,7 +756,6 @@ pipeline {
|
||||
steps {
|
||||
// configure
|
||||
resetParameters()
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"' // generic quadcopter
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"' // update bootloader
|
||||
checkStatus()
|
||||
@@ -773,11 +767,7 @@ pipeline {
|
||||
printTopics()
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
resetBoard()
|
||||
}
|
||||
|
||||
}
|
||||
} // stage test
|
||||
}
|
||||
@@ -793,21 +783,11 @@ pipeline {
|
||||
}
|
||||
options {
|
||||
buildDiscarder(logRotator(numToKeepStr: '30', artifactDaysToKeepStr: '60'))
|
||||
timeout(time: 180, unit: 'MINUTES')
|
||||
timeout(time: 120, unit: 'MINUTES')
|
||||
skipDefaultCheckout()
|
||||
}
|
||||
}
|
||||
|
||||
void checkoutSCM() {
|
||||
retry(3) {
|
||||
checkout scm
|
||||
sh 'export'
|
||||
sh 'make distclean'
|
||||
sh 'git fetch --tags'
|
||||
sh 'ccache -z'
|
||||
}
|
||||
}
|
||||
|
||||
void quickCalibrate() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1; param show CAL_ACC*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 1; param show CAL_GYRO*"'
|
||||
@@ -820,13 +800,12 @@ void quickCalibrate() {
|
||||
void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
|
||||
// run logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
|
||||
// status commands
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
|
||||
@@ -838,18 +817,17 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /bin"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
|
||||
@@ -857,6 +835,7 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -r 2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
|
||||
@@ -865,7 +844,7 @@ void checkStatus() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
// stop logger
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
|
||||
}
|
||||
|
||||
void resetParameters() {
|
||||
@@ -877,21 +856,18 @@ void resetParameters() {
|
||||
void runTests() {
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
|
||||
sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink_tests" || true' // TODO
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test"'
|
||||
|
||||
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
|
||||
|
||||
@@ -901,26 +877,7 @@ void runTests() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
|
||||
|
||||
// test rebooting multiple times
|
||||
resetParameters()
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
|
||||
}
|
||||
|
||||
void printTopics() {
|
||||
@@ -928,131 +885,91 @@ void printTopics() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
|
||||
|
||||
// these are for casually inspecting the system, output failure doesn't matter
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener heater_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status" || true'
|
||||
}
|
||||
|
||||
void resetBoard() {
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
|
||||
resetParameters()
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true' // limit cpu usage
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
|
||||
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
// format
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs -F 32 /dev/mmcsd0" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once" || true'
|
||||
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount -t vfat /dev/mmcsd0 /fs/microsd" || true'
|
||||
// check SD card
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc/fs" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_armed"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_wind"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener commander_state"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_odometry"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_optical_flow_vel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_states"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_wind"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener event"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener input_rc"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener led_control"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener log_message"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener manual_control_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mavlink_log"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener mission"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener multirotor_motor_limits"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener optical_flow"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_controller_landing_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener position_setpoint_triplet"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener radio_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener rate_ctrl_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener safety"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fft"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_preflight_mag"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_selection"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener task_stack_info"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener test_motor"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener trajectory_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_command_ack"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_control_mode"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_global_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_land_detected"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_odometry"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_rates_setpoint"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_status_flags"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vtol_vehicle_status"'
|
||||
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener yaw_estimator_status"'
|
||||
}
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
// https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
|
||||
{
|
||||
"name": "px4-dev-nuttx",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
|
||||
"image": "px4io/px4-dev-nuttx-focal:2021-05-04",
|
||||
|
||||
"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
|
||||
|
||||
|
||||
@@ -29,7 +29,7 @@ jobs:
|
||||
"parameters_metadata",
|
||||
]
|
||||
container:
|
||||
image: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
image: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-clang:2021-09-08
|
||||
container: px4io/px4-dev-clang:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-armhf:2021-09-08
|
||||
container: px4io/px4-dev-armhf:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,7 +11,7 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-aarch64:2021-09-08
|
||||
container: px4io/px4-dev-aarch64:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
|
||||
@@ -11,14 +11,13 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
airmind_mindpx-v2,
|
||||
ark_can-flow,
|
||||
ark_can-gps,
|
||||
ark_can-rtk-gps,
|
||||
atl_mantis-edu,
|
||||
av_x-v1,
|
||||
bitcraze_crazyflie,
|
||||
|
||||
@@ -11,13 +11,12 @@ on:
|
||||
jobs:
|
||||
build:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
strategy:
|
||||
matrix:
|
||||
config: [
|
||||
ark_can-flow_default,
|
||||
ark_can-gps_default,
|
||||
ark_can-rtk-gps_default,
|
||||
cuav_can-gps-v1_default,
|
||||
freefly_can-rtk-gps_default,
|
||||
holybro_can-gps-v1_default,
|
||||
|
||||
@@ -23,7 +23,7 @@ jobs:
|
||||
needs: enumerate_targets
|
||||
strategy:
|
||||
matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
|
||||
container: px4io/px4-dev-${{ matrix.container }}:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -5,7 +5,7 @@ on: pull_request
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v2.3.1
|
||||
with:
|
||||
|
||||
@@ -5,7 +5,7 @@ on: push
|
||||
jobs:
|
||||
unit_tests:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
env:
|
||||
GIT_COMMITTER_EMAIL: bot@px4.io
|
||||
GIT_COMMITTER_NAME: PX4BuildBot
|
||||
|
||||
@@ -25,7 +25,7 @@ jobs:
|
||||
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
image: px4io/px4-dev-ros-melodic:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -20,7 +20,7 @@ jobs:
|
||||
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-ros-melodic:2021-09-08
|
||||
image: px4io/px4-dev-ros-melodic:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -11,7 +11,7 @@ jobs:
|
||||
|
||||
airframe:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -37,7 +37,7 @@ jobs:
|
||||
|
||||
module:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -52,7 +52,7 @@ jobs:
|
||||
|
||||
parameter:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -76,7 +76,7 @@ jobs:
|
||||
|
||||
events:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -103,7 +103,7 @@ jobs:
|
||||
|
||||
uorb_graph:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-nuttx-focal:2021-09-08
|
||||
container: px4io/px4-dev-nuttx-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -118,7 +118,7 @@ jobs:
|
||||
|
||||
micrortps_agent:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -132,7 +132,7 @@ jobs:
|
||||
|
||||
ROS_msgs:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
@@ -145,7 +145,7 @@ jobs:
|
||||
|
||||
ROS2_bridge:
|
||||
runs-on: ubuntu-latest
|
||||
container: px4io/px4-dev-base-focal:2021-09-08
|
||||
container: px4io/px4-dev-base-focal:2021-05-04
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
with:
|
||||
|
||||
@@ -21,7 +21,7 @@ jobs:
|
||||
- {latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage", model: "standard_vtol" } # Zurich
|
||||
|
||||
container:
|
||||
image: px4io/px4-dev-simulation-focal:2021-09-08
|
||||
image: px4io/px4-dev-simulation-focal:2021-05-04
|
||||
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||
steps:
|
||||
- uses: actions/checkout@v1
|
||||
|
||||
@@ -66,11 +66,3 @@
|
||||
[submodule "Tools/simulation-ignition"]
|
||||
path = Tools/simulation-ignition
|
||||
url = https://github.com/Auterion/px4-simulation-ignition.git
|
||||
[submodule "src/lib/crypto/libtomcrypt"]
|
||||
path = src/lib/crypto/libtomcrypt
|
||||
url = https://github.com/PX4/libtomcrypt.git
|
||||
branch = px4
|
||||
[submodule "src/lib/crypto/libtommath"]
|
||||
path = src/lib/crypto/libtommath
|
||||
url = https://github.com/PX4/libtommath.git
|
||||
branch = px4
|
||||
|
||||
Vendored
-15
@@ -6,11 +6,6 @@ CONFIG:
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_default
|
||||
px4_sitl_rtps:
|
||||
short: px4_sitl_rtps
|
||||
buildType: RelWithDebInfo
|
||||
settings:
|
||||
CONFIG: px4_sitl_rtps
|
||||
px4_sitl_asan:
|
||||
short: px4_sitl (AddressSanitizer)
|
||||
buildType: AddressSanitizer
|
||||
@@ -101,16 +96,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-gps_canbootloader
|
||||
ark_can-rtk-gps_default:
|
||||
short: ark_can-rtk-gps_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_default
|
||||
ark_can-rtk-gps_canbootloader:
|
||||
short: ark_can-rtk-gps_canbootloader
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: ark_can-rtk-gps_canbootloader
|
||||
atl_mantis-edu_default:
|
||||
short: atl_mantis-edu
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+1
@@ -31,6 +31,7 @@
|
||||
"esc"
|
||||
],
|
||||
"debug.toolBarLocation": "docked",
|
||||
"editor.acceptSuggestionOnEnter": "off",
|
||||
"editor.defaultFormatter": "chiehyu.vscode-astyle",
|
||||
"editor.dragAndDrop": false,
|
||||
"editor.insertSpaces": false,
|
||||
|
||||
@@ -481,7 +481,6 @@ submodulesupdate:
|
||||
@git submodule update --quiet --init --recursive --jobs 4 || true
|
||||
@git submodule sync --recursive
|
||||
@git submodule update --init --recursive --jobs 4
|
||||
@git fetch --all --tags --recurse-submodules=yes --jobs=4
|
||||
|
||||
gazeboclean:
|
||||
@rm -rf ~/.gazebo/*
|
||||
|
||||
@@ -15,6 +15,15 @@ set +e
|
||||
#
|
||||
#------------------------------------------------------------------------------
|
||||
set R /
|
||||
#
|
||||
# Mount the procfs.
|
||||
#
|
||||
mount -t procfs /proc
|
||||
|
||||
#
|
||||
# Start CDC/ACM serial driver.
|
||||
#
|
||||
sercon
|
||||
|
||||
#
|
||||
# Print full system version.
|
||||
|
||||
@@ -21,6 +21,8 @@ then
|
||||
fi
|
||||
|
||||
# initialize script variables
|
||||
set AUX_MODE none
|
||||
set AUX_BANK2 none
|
||||
set IO_PRESENT no
|
||||
set MAV_TYPE none
|
||||
set MIXER none
|
||||
@@ -120,6 +122,8 @@ then
|
||||
|
||||
param set SENS_BOARD_X_OFF 0.000001
|
||||
param set SENS_DPRES_OFF 0.001
|
||||
|
||||
param set SYS_RESTART_TYPE 2
|
||||
fi
|
||||
|
||||
param set-default BAT1_N_CELLS 4
|
||||
|
||||
@@ -42,6 +42,7 @@ px4_add_romfs_files(
|
||||
rc.fw_apps
|
||||
rc.fw_defaults
|
||||
rc.interface
|
||||
rc.io
|
||||
rc.logging
|
||||
rc.mc_apps
|
||||
rc.mc_defaults
|
||||
|
||||
@@ -56,6 +56,7 @@ param set-default RTL_DESCEND_ALT 10
|
||||
param set-default RTL_RETURN_ALT 30
|
||||
|
||||
param set-default SDLOG_DIRS_MAX 7
|
||||
param set-default SYS_RESTART_TYPE 2
|
||||
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_MOT_ID 1234
|
||||
|
||||
@@ -19,7 +19,6 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -23,7 +23,6 @@
|
||||
# @maintainer William Peale <develop707@gmail.com>
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
set VEHICLE_TYPE mc
|
||||
|
||||
@@ -6,7 +6,6 @@
|
||||
# @class Copter
|
||||
#
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -48,6 +48,7 @@ param set-default CBRK_IO_SAFETY 22027
|
||||
param set-default CBRK_SUPPLY_CHK 894281
|
||||
|
||||
# RC configuration
|
||||
param set-default RC_MAP_MODE_SW 5
|
||||
param set-default RC_MAP_PITCH 2
|
||||
param set-default RC_MAP_ROLL 1
|
||||
param set-default RC_MAP_THROTTLE 3
|
||||
|
||||
@@ -20,7 +20,6 @@
|
||||
# @maintainer Lorenz Meier <lorenz@px4.io>
|
||||
#
|
||||
# @board bitcraze_crazyflie exclude
|
||||
# @board px4_fmu-v2 exclude
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.mc_defaults
|
||||
|
||||
@@ -17,10 +17,6 @@ set OUTPUT_DEV none
|
||||
set OUTPUT_AUX_DEV /dev/pwm_output1
|
||||
set OUTPUT_EXTRA_DEV /dev/pwm_output0
|
||||
|
||||
# set these before starting the modules
|
||||
param set PWM_AUX_OUT ${PWM_AUX_OUT}
|
||||
param set PWM_MAIN_OUT ${PWM_OUT}
|
||||
|
||||
#
|
||||
# If mount (gimbal) control is enabled and output mode is AUX, set the aux
|
||||
# mixer to mount (override the airframe-specific MIXER_AUX setting).
|
||||
@@ -33,6 +29,12 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
# USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
|
||||
if [ $USE_IO = no -a $AUX_BANK2 = none ]
|
||||
then
|
||||
set AUX_MODE none
|
||||
fi
|
||||
|
||||
#
|
||||
# Set the default output mode if none was set.
|
||||
#
|
||||
@@ -74,6 +76,15 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = $OUTPUT_CMD ]
|
||||
then
|
||||
if ! $OUTPUT_CMD mode_$FMU_MODE
|
||||
then
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
tune_control play error
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = uavcan_esc ]
|
||||
then
|
||||
if param compare UAVCAN_ENABLE 0
|
||||
@@ -82,24 +93,19 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = io ]
|
||||
then
|
||||
. ${R}etc/init.d/rc.io
|
||||
fi
|
||||
|
||||
#
|
||||
# Start IO for PWM output or RC input if needed.
|
||||
# Start IO for RC input if needed.
|
||||
#
|
||||
if [ $IO_PRESENT = yes ]
|
||||
then
|
||||
if ! px4io start
|
||||
if [ $OUTPUT_MODE != io ]
|
||||
then
|
||||
echo "PX4IO start failed"
|
||||
tune_control play -t 18 # PROG_PX4IO_ERR
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
|
||||
then
|
||||
if ! $OUTPUT_CMD start
|
||||
then
|
||||
echo "$OUTPUT_CMD start failed"
|
||||
tune_control play error
|
||||
. ${R}etc/init.d/rc.io
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
@@ -155,7 +161,7 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $MIXER_AUX != none ]
|
||||
if [ $MIXER_AUX != none -a $AUX_MODE != none ]
|
||||
then
|
||||
#
|
||||
# Load aux mixer.
|
||||
@@ -173,26 +179,34 @@ then
|
||||
|
||||
if [ $MIXER_AUX_FILE != none ]
|
||||
then
|
||||
# Append aux mixer to main device.
|
||||
if param greater SYS_HITL 0
|
||||
# Start the output module
|
||||
if $OUTPUT_CMD mode_${AUX_MODE}
|
||||
then
|
||||
if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
|
||||
# Append aux mixer to main device.
|
||||
if param greater SYS_HITL 0
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
|
||||
if mixer append ${OUTPUT_DEV} ${MIXER_AUX_FILE}
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed appending mixer: ${MIXER_AUX_FILE}"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
|
||||
then
|
||||
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
|
||||
if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
|
||||
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
fi
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
echo "INFO [init] setting PWM_AUX_OUT none"
|
||||
set PWM_AUX_OUT none
|
||||
fi
|
||||
else
|
||||
echo "INFO [init] setting PWM_AUX_OUT none"
|
||||
echo "ERROR: Could not start: pwm_out mode_pwm"
|
||||
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
|
||||
set PWM_AUX_OUT none
|
||||
fi
|
||||
|
||||
@@ -212,6 +226,38 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
param set PWM_AUX_OUT ${PWM_AUX_OUT}
|
||||
|
||||
if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
|
||||
then
|
||||
#
|
||||
# Load aux mixer.
|
||||
#
|
||||
if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
|
||||
then
|
||||
set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
|
||||
else
|
||||
|
||||
if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
|
||||
then
|
||||
set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
|
||||
fi
|
||||
fi
|
||||
|
||||
if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
|
||||
then
|
||||
echo "INFO [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
|
||||
|
||||
# Set PWM_AUX output frequency.
|
||||
if [ $PWM_AUX_RATE != none ]
|
||||
then
|
||||
pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
|
||||
fi
|
||||
else
|
||||
echo "ERROR [init] Failed loading mixer: ${MIXER_AUX_FILE}"
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
|
||||
then
|
||||
if [ $PWM_OUT != none ]
|
||||
@@ -224,6 +270,8 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
param set PWM_MAIN_OUT ${PWM_OUT}
|
||||
|
||||
if [ $EXTRA_MIXER_MODE != none ]
|
||||
then
|
||||
|
||||
|
||||
@@ -0,0 +1,23 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# PX4IO interface init script.
|
||||
#
|
||||
|
||||
# If $OUTPUT_MODE indicated Hardware-int-the-loop simulation, px4io should not publish actuator_outputs,
|
||||
# instead, pwm_out_sim will publish that uORB
|
||||
if [ $OUTPUT_MODE = hil ]
|
||||
then
|
||||
set HIL_ARG $OUTPUT_MODE
|
||||
fi
|
||||
|
||||
if [ $IO_PRESENT = yes ]
|
||||
then
|
||||
if px4io start $HIL_ARG
|
||||
then
|
||||
# Allow PX4IO to recover from midair restarts.
|
||||
px4io recovery
|
||||
else
|
||||
echo "PX4IO start failed"
|
||||
tune_control play -t 18 # PROG_PX4IO_ERR
|
||||
fi
|
||||
fi
|
||||
@@ -57,7 +57,6 @@ mc_rate_control start
|
||||
# Start Multicopter Attitude Controller.
|
||||
#
|
||||
mc_att_control start
|
||||
mc_autotune_attitude_control start
|
||||
|
||||
#
|
||||
# Start Multicopter Position Controller.
|
||||
|
||||
@@ -13,8 +13,6 @@ param set-default MIS_YAW_TMT 10
|
||||
param set-default EKF2_ARSP_THR 10
|
||||
param set-default EKF2_FUSE_BETA 1
|
||||
|
||||
param set-default HTE_VXY_THR 2.0
|
||||
|
||||
param set-default MIS_DIST_WPS 5000
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
|
||||
@@ -22,8 +22,10 @@ set +e
|
||||
#
|
||||
set R /
|
||||
set AUTOCNF no
|
||||
set AUX_MODE pwm
|
||||
set FCONFIG /fs/microsd/etc/config.txt
|
||||
set FEXTRAS /fs/microsd/etc/extras.txt
|
||||
set FMU_MODE pwm
|
||||
set FRC /fs/microsd/etc/rc.txt
|
||||
set IOFW "/etc/extras/px4_io-v2_default.bin"
|
||||
set IO_PRESENT no
|
||||
@@ -49,6 +51,16 @@ set STARTUP_TUNE 1
|
||||
set USE_IO no
|
||||
set VEHICLE_TYPE none
|
||||
|
||||
#
|
||||
# Mount the procfs.
|
||||
#
|
||||
mount -t procfs /proc
|
||||
|
||||
#
|
||||
# Start CDC/ACM serial driver.
|
||||
#
|
||||
sercon
|
||||
|
||||
#
|
||||
# Print full system version.
|
||||
#
|
||||
@@ -57,43 +69,8 @@ ver all
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
set SDCARD_AVAILABLE no
|
||||
# REBOOTWORK this needs to start after the flight control loop.
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
|
||||
date >> $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
cat $PX4_INIT_TEST_FILE
|
||||
rm $PX4_INIT_TEST_FILE
|
||||
|
||||
if [ ! -f $PX4_INIT_TEST_FILE ]
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = no ]
|
||||
then
|
||||
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
||||
if mkfatfs -F 32 /dev/mmcsd0
|
||||
then
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
set SDCARD_AVAILABLE yes
|
||||
echo "INFO [init] card formatted"
|
||||
|
||||
else
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR
|
||||
echo "ERROR [init] format failed"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ $SDCARD_AVAILABLE = yes ]
|
||||
then
|
||||
if hardfault_log check
|
||||
then
|
||||
@@ -104,8 +81,20 @@ then
|
||||
hardfault_log reset
|
||||
fi
|
||||
fi
|
||||
else
|
||||
# tune SD_INIT
|
||||
set STARTUP_TUNE 14 # tune 14 = SD_INIT
|
||||
if mkfatfs /dev/mmcsd0
|
||||
then
|
||||
if mount -t vfat /dev/mmcsd0 /fs/microsd
|
||||
then
|
||||
echo "INFO [init] card formatted"
|
||||
else
|
||||
set STARTUP_TUNE 15 # tune 15 = SD_ERROR
|
||||
echo "ERROR [init] format failed"
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
unset SDCARD_AVAILABLE
|
||||
|
||||
#
|
||||
# Look for an init script on the microSD card.
|
||||
@@ -369,14 +358,52 @@ else
|
||||
commander start
|
||||
fi
|
||||
|
||||
# Pre-takeoff continuous magnetometer calibration
|
||||
if param compare -s MBE_ENABLE 1
|
||||
# Sensors on the PWM interface bank.
|
||||
if param compare -s SENS_EN_LL40LS 1
|
||||
then
|
||||
mag_bias_estimator start
|
||||
# Clear pins 5 and 6.
|
||||
set FMU_MODE pwm4
|
||||
set AUX_MODE pwm4
|
||||
fi
|
||||
|
||||
|
||||
# Check if ATS is enabled
|
||||
if param compare FD_EXT_ATS_EN 1
|
||||
then
|
||||
# Clear pins 5 and 6.
|
||||
set FMU_MODE pwm4
|
||||
set AUX_MODE pwm4
|
||||
fi
|
||||
|
||||
if param greater -s TRIG_MODE 0
|
||||
then
|
||||
if param compare TRIG_PINS_EX 0
|
||||
then
|
||||
# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
|
||||
if param compare TRIG_PINS 56
|
||||
then
|
||||
# clear pins 5 and 6
|
||||
set FMU_MODE pwm4
|
||||
set AUX_MODE pwm4
|
||||
else
|
||||
if param compare TRIG_PINS 78
|
||||
then
|
||||
# clear pins 7 and 8
|
||||
set FMU_MODE pwm6
|
||||
set AUX_MODE pwm6
|
||||
else
|
||||
set FMU_MODE none
|
||||
set AUX_MODE none
|
||||
fi
|
||||
fi
|
||||
else
|
||||
if param compare TRIG_PINS_EX 12288
|
||||
then
|
||||
set FMU_MODE pwm12
|
||||
set AUX_MODE pwm12
|
||||
fi
|
||||
fi
|
||||
|
||||
camera_trigger start
|
||||
camera_feedback start
|
||||
fi
|
||||
@@ -404,7 +431,14 @@ else
|
||||
rc_input start $RC_INPUT_ARGS
|
||||
fi
|
||||
|
||||
# Camera capture driver (before pwm_out)
|
||||
#
|
||||
# Configure vehicle type specific parameters.
|
||||
# Note: rc.vehicle_setup is the entry point for rc.interface,
|
||||
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
|
||||
#
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
# Camera capture driver
|
||||
if param greater -s CAM_CAP_FBACK 0
|
||||
then
|
||||
if camera_capture start
|
||||
@@ -413,13 +447,6 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Configure vehicle type specific parameters.
|
||||
# Note: rc.vehicle_setup is the entry point for rc.interface,
|
||||
# rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
|
||||
#
|
||||
. ${R}etc/init.d/rc.vehicle_setup
|
||||
|
||||
#
|
||||
# Start the navigator.
|
||||
#
|
||||
@@ -519,8 +546,10 @@ fi
|
||||
#
|
||||
unset R
|
||||
unset AUTOCNF
|
||||
unset AUX_MODE
|
||||
unset FCONFIG
|
||||
unset FEXTRAS
|
||||
unset FMU_MODE
|
||||
unset FRC
|
||||
unset IO_PRESENT
|
||||
unset IOFW
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Aileron/rudder/elevator/throttle mixer for PX4FMU
|
||||
==================================================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
TF-G2 autogyro mixer
|
||||
==================================================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
|
||||
(roll), 1 (pitch) and 3 (thrust).
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Viper Delta-wing mixer
|
||||
=================================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
Designed for Viper.
|
||||
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
# CruiseAder Claire Main Multirotor mixer for PX4FMU
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
#
|
||||
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Delta-wing mixer for PX4FMU
|
||||
===========================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
# Direct mixer
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
A: 0
|
||||
A: 1
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
# Octo coaxial with wide arms
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
R: 8cw
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Delta-wing VTOL mixer
|
||||
=====================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
This file defines mixers suitable for controlling a delta wing VTOL aircraft using
|
||||
PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
|
||||
|
||||
@@ -1,6 +1,5 @@
|
||||
Tailsitter duo mixer
|
||||
============================
|
||||
# @board px4_fmu-v2 exclude
|
||||
|
||||
This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
|
||||
has two motors in total, one attached to each wing. It also has two elevons which
|
||||
|
||||
@@ -13,6 +13,14 @@ then
|
||||
led_control on -c blue
|
||||
fi
|
||||
|
||||
if sercon
|
||||
then
|
||||
echo "[i] USB interface connected"
|
||||
|
||||
# Try to get an USB console
|
||||
nshterm /dev/ttyACM0 &
|
||||
fi
|
||||
|
||||
#
|
||||
# Try to mount the microSD card.
|
||||
#
|
||||
@@ -62,6 +70,14 @@ then
|
||||
set io_file /etc/extras/px4_io-v2_default.bin
|
||||
fi
|
||||
|
||||
if px4io start
|
||||
then
|
||||
echo "PX4IO OK"
|
||||
else
|
||||
set unit_test_failure 1
|
||||
set unit_test_failure_list "${unit_test_failure_list} px4io_start"
|
||||
fi
|
||||
|
||||
if px4io checkcrc $io_file
|
||||
then
|
||||
echo "PX4IO CRC OK"
|
||||
@@ -88,15 +104,6 @@ else
|
||||
fi
|
||||
fi
|
||||
|
||||
if px4io start
|
||||
then
|
||||
echo "PX4IO OK"
|
||||
else
|
||||
set unit_test_failure 1
|
||||
set unit_test_failure_list "${unit_test_failure_list} px4io_start"
|
||||
fi
|
||||
|
||||
|
||||
#
|
||||
# The presence of this file suggests we're running a mount stress test
|
||||
#
|
||||
|
||||
@@ -30,11 +30,8 @@ def print_line(line):
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
|
||||
def monitor_firmware_upload(port, baudrate):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
@@ -43,21 +40,16 @@ def monitor_firmware_upload(port, baudrate):
|
||||
timeout_start = time.time()
|
||||
timeout_newline = time.time()
|
||||
|
||||
return_code = 0
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR" in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "NuttShell (NSH)" in serial_line:
|
||||
sys.exit(return_code)
|
||||
sys.exit(0)
|
||||
elif "nsh>" in serial_line:
|
||||
sys.exit(return_code)
|
||||
sys.exit(0)
|
||||
|
||||
if time.time() > timeout_start + timeout:
|
||||
print("Error, timeout")
|
||||
|
||||
@@ -35,7 +35,7 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
|
||||
@@ -30,18 +30,14 @@ def print_line(line):
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
|
||||
def do_nsh_cmd(port, baudrate, cmd):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
@@ -70,7 +66,7 @@ def do_nsh_cmd(port, baudrate, cmd):
|
||||
success_cmd = "cmd succeeded!"
|
||||
|
||||
# wait for command echo
|
||||
serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
|
||||
serial_cmd = '{0}; echo "{1}"\r\n'.format(cmd, success_cmd)
|
||||
ser.write(serial_cmd.encode("ascii"))
|
||||
ser.flush()
|
||||
while True:
|
||||
@@ -94,19 +90,13 @@ def do_nsh_cmd(port, baudrate, cmd):
|
||||
timeout_start = time.time()
|
||||
timeout = 180 # 3 minutes
|
||||
|
||||
return_code = 0
|
||||
|
||||
while True:
|
||||
serial_line = ser.readline().decode("ascii", errors='ignore')
|
||||
|
||||
if success_cmd in serial_line:
|
||||
sys.exit(return_code)
|
||||
break
|
||||
else:
|
||||
if len(serial_line) > 0:
|
||||
if "ERROR " in serial_line:
|
||||
return_code = -1
|
||||
|
||||
print_line(serial_line)
|
||||
|
||||
if "nsh>" in serial_line:
|
||||
|
||||
@@ -32,17 +32,14 @@ def print_line(line):
|
||||
if "FAILED" in line:
|
||||
line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
|
||||
|
||||
if "\n" in line:
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
else:
|
||||
print('{0}'.format(line), end='')
|
||||
current_time = datetime.datetime.now()
|
||||
print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
|
||||
|
||||
def do_test(port, baudrate, test_name):
|
||||
ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
|
||||
|
||||
timeout_start = time.time()
|
||||
timeout = 30 # 30 seconds
|
||||
timeout = 10 # 10 seconds
|
||||
|
||||
# wait for nsh prompt
|
||||
while True:
|
||||
@@ -142,6 +139,9 @@ class TestHardwareMethods(unittest.TestCase):
|
||||
def test_bson(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))
|
||||
|
||||
def test_conv(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "conv"))
|
||||
|
||||
def test_dataman(self):
|
||||
self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
|
||||
|
||||
|
||||
@@ -24,7 +24,4 @@ exec find boards msg src platforms test \
|
||||
-path src/modules/micrortps_bridge/micro-CDR -prune -o \
|
||||
-path src/modules/micrortps_bridge/microRTPS_client -prune -o \
|
||||
-path test/mavsdk_tests/catch2 -prune -o \
|
||||
-path src/lib/crypto/monocypher -prune -o \
|
||||
-path src/lib/crypto/libtomcrypt -prune -o \
|
||||
-path src/lib/crypto/libtommath -prune -o \
|
||||
-type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
|
||||
|
||||
@@ -1,62 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
from Crypto.PublicKey import RSA
|
||||
from Crypto.Cipher import PKCS1_OAEP
|
||||
from Crypto.Cipher import ChaCha20
|
||||
from Crypto.Hash import SHA256
|
||||
import binascii
|
||||
import argparse
|
||||
#from pathlib import Path
|
||||
import sys
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
parser = argparse.ArgumentParser(description="""CLI tool to decrypt an ulog file\n""")
|
||||
parser.add_argument("ulog_file", help=".ulog file", nargs='?', default=None)
|
||||
parser.add_argument("ulog_key", help=".ulogk, encrypted key", nargs='?', default=None)
|
||||
parser.add_argument("rsa_key", help=".pem format key for decrypting the ulog key", nargs='?', default=None)
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
# Only generate a key pair, don't sign
|
||||
if not args.ulog_file or not args.ulog_key or not args.rsa_key:
|
||||
print('Need all arguments, the encrypted ulog file, the key and the key decryption key')
|
||||
sys.exit(1);
|
||||
|
||||
# Read the private RSA key to decrypt the cahcha key
|
||||
with open(args.rsa_key, 'rb') as f:
|
||||
r = RSA.importKey(f.read(), passphrase='')
|
||||
|
||||
# Read the encrypted xchacha key and the nonce
|
||||
with open(args.ulog_key, 'rb') as f:
|
||||
ulog_key_header = f.read(22)
|
||||
|
||||
# Parse the header
|
||||
try:
|
||||
# magic
|
||||
if not ulog_key_header.startswith(bytearray("ULogKey".encode())):
|
||||
raise Exception()
|
||||
# version
|
||||
if ulog_key_header[7] != 1:
|
||||
raise Exception()
|
||||
# expected key exchange algorithm (RSA_OAEP)
|
||||
if ulog_key_header[16] != 4:
|
||||
raise Exception()
|
||||
key_size = ulog_key_header[19] << 8 | ulog_key_header[18];
|
||||
nonce_size = ulog_key_header[21] << 8 | ulog_key_header[20];
|
||||
ulog_key_cipher = f.read(key_size)
|
||||
nonce = f.read(nonce_size)
|
||||
except:
|
||||
print("Keyfile format error")
|
||||
sys.exit(1);
|
||||
|
||||
# Decrypt the xchacha key
|
||||
cipher_rsa = PKCS1_OAEP.new(r,SHA256)
|
||||
ulog_key = cipher_rsa.decrypt(ulog_key_cipher)
|
||||
#print(binascii.hexlify(ulog_key))
|
||||
|
||||
# Read and decrypt the .ulgc
|
||||
cipher = ChaCha20.new(key=ulog_key, nonce=nonce)
|
||||
with open(args.ulog_file, 'rb') as f:
|
||||
with open(args.ulog_file.rstrip(args.ulog_file[-1]), 'wb') as out:
|
||||
out.write(cipher.decrypt(f.read()))
|
||||
+4
-4
@@ -4,16 +4,16 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
echo "guessing PX4_DOCKER_REPO based on input";
|
||||
if [[ $@ =~ .*px4_fmu.* ]]; then
|
||||
# nuttx-px4fmu-v{1,2,3,4,5}
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
|
||||
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
|
||||
# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
|
||||
elif [[ $@ =~ .*pilotpi.arm64 ]]; then
|
||||
# scumaker_pilotpi_arm64
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
|
||||
elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
|
||||
# posix_rpi_cross, posix_bebop_default
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
|
||||
elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
|
||||
# clang tools
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
|
||||
@@ -27,7 +27,7 @@ fi
|
||||
|
||||
# otherwise default to nuttx
|
||||
if [ -z ${PX4_DOCKER_REPO+x} ]; then
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
|
||||
PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-05-04"
|
||||
fi
|
||||
|
||||
# docker hygiene
|
||||
|
||||
@@ -126,8 +126,7 @@ else
|
||||
|
||||
m=0
|
||||
while [ $m -lt ${target_number} ]; do
|
||||
export PX4_SIM_MODEL=${target_vehicle}${LABEL}
|
||||
spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
|
||||
spawn_model ${target_vehicle} $n $target_x $target_y
|
||||
m=$(($m + 1))
|
||||
n=$(($n + 1))
|
||||
done
|
||||
|
||||
+1
-1
Submodule Tools/jMAVSim updated: 0a5a8c6d9d...0a5375a706
@@ -45,7 +45,6 @@ class MavlinkSerialPort():
|
||||
self.port = devnum
|
||||
self.debug("Connecting with MAVLink to %s ..." % portname)
|
||||
self.mav = mavutil.mavlink_connection(portname, autoreconnect=True, baud=baudrate)
|
||||
self.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GENERIC, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)
|
||||
self.mav.wait_heartbeat()
|
||||
self.debug("HEARTBEAT OK\n")
|
||||
self.debug("Locked serial device\n")
|
||||
@@ -227,7 +226,8 @@ def main():
|
||||
# handle heartbeat sending
|
||||
heartbeat_time = timer()
|
||||
if heartbeat_time > next_heartbeat_time:
|
||||
mav_serialport.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GENERIC, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)
|
||||
mav_serialport.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS,
|
||||
mavutil.mavlink.MAV_AUTOPILOT_GENERIC, 0, 0, 0)
|
||||
next_heartbeat_time = heartbeat_time + 1
|
||||
|
||||
except serial.serialutil.SerialException as e:
|
||||
|
||||
@@ -221,8 +221,7 @@ class SourceParser(object):
|
||||
else:
|
||||
raise Exception("Could not extract event ID from {:}".format(args_split[0]))
|
||||
event.name = event_name
|
||||
# unescape \x, to treat the string the same as the C++ compiler
|
||||
event.message = args_split[2][1:-1].encode("utf-8").decode('unicode_escape')
|
||||
event.message = args_split[2][1:-1]
|
||||
elif call in ['reporter.healthFailure', 'reporter.armingCheckFailure']:
|
||||
assert len(args_split) == num_args + 5, \
|
||||
"Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
|
||||
|
||||
@@ -14,7 +14,7 @@ class ModuleDocumentation(object):
|
||||
# If you add categories or subcategories, they also need to be added to the
|
||||
# TOC in https://github.com/PX4/Devguide/blob/master/en/SUMMARY.md
|
||||
valid_categories = ['driver', 'estimator', 'controller', 'system',
|
||||
'communication', 'command', 'template', 'simulation', 'autotune']
|
||||
'communication', 'command', 'template', 'simulation']
|
||||
valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
|
||||
'magnetometer', 'baro', 'optical_flow']
|
||||
|
||||
|
||||
+8
-37
@@ -682,28 +682,7 @@ class uploader(object):
|
||||
|
||||
return True
|
||||
|
||||
def send_protocol_splitter_format(self, data):
|
||||
# Header Structure:
|
||||
# bits: 1 2 3 4 5 6 7 8
|
||||
# header[0] - | Magic | (='S')
|
||||
# header[1] - |T| LenH | (T - 0: mavlink; 1: rtps)
|
||||
# header[2] - | LenL |
|
||||
# header[3] - | Checksum |
|
||||
|
||||
MAGIC = 83
|
||||
|
||||
len_bytes = len(data).to_bytes(2, "big")
|
||||
LEN_H = len_bytes[0] & 127
|
||||
LEN_L = len_bytes[1] & 255
|
||||
CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
|
||||
|
||||
header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
|
||||
header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
|
||||
|
||||
self.__send(header_bytes)
|
||||
self.__send(data)
|
||||
|
||||
def send_reboot(self, use_protocol_splitter_format=False):
|
||||
def send_reboot(self):
|
||||
if (not self.__next_baud_flightstack()):
|
||||
return False
|
||||
|
||||
@@ -714,19 +693,15 @@ class uploader(object):
|
||||
print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
|
||||
|
||||
try:
|
||||
send_fct = self.__send
|
||||
if use_protocol_splitter_format:
|
||||
send_fct = self.send_protocol_splitter_format
|
||||
|
||||
# try MAVLINK command first
|
||||
self.port.flush()
|
||||
send_fct(uploader.MAVLINK_REBOOT_ID1)
|
||||
send_fct(uploader.MAVLINK_REBOOT_ID0)
|
||||
self.__send(uploader.MAVLINK_REBOOT_ID1)
|
||||
self.__send(uploader.MAVLINK_REBOOT_ID0)
|
||||
# then try reboot via NSH
|
||||
send_fct(uploader.NSH_INIT)
|
||||
send_fct(uploader.NSH_REBOOT_BL)
|
||||
send_fct(uploader.NSH_INIT)
|
||||
send_fct(uploader.NSH_REBOOT)
|
||||
self.__send(uploader.NSH_INIT)
|
||||
self.__send(uploader.NSH_REBOOT_BL)
|
||||
self.__send(uploader.NSH_INIT)
|
||||
self.__send(uploader.NSH_REBOOT)
|
||||
self.port.flush()
|
||||
self.port.baudrate = self.baudrate_bootloader
|
||||
except Exception:
|
||||
@@ -751,13 +726,9 @@ def main():
|
||||
parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
|
||||
parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
|
||||
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
|
||||
parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
|
||||
parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
|
||||
args = parser.parse_args()
|
||||
|
||||
if args.use_protocol_splitter_format:
|
||||
print("Using protocol splitter format to reboot pixhawk!")
|
||||
|
||||
# warn people about ModemManager which interferes badly with Pixhawk
|
||||
if os.path.exists("/usr/sbin/ModemManager"):
|
||||
print("==========================================================================================================")
|
||||
@@ -859,7 +830,7 @@ def main():
|
||||
|
||||
except Exception:
|
||||
|
||||
if not up.send_reboot(args.use_protocol_splitter_format):
|
||||
if not up.send_reboot():
|
||||
break
|
||||
|
||||
# wait for the reboot, without we might run into Serial I/O Error 5
|
||||
|
||||
@@ -138,12 +138,6 @@ serial_ports = {
|
||||
"default_baudrate": 1, # set default to an unusable value to detect that this serial port has not been configured
|
||||
},
|
||||
|
||||
# Pixhawk Payload Bus
|
||||
"PPB": {
|
||||
"label": "Pixhawk Payload Bus",
|
||||
"index": 401,
|
||||
"default_baudrate": 57600,
|
||||
},
|
||||
|
||||
}
|
||||
|
||||
|
||||
Executable → Regular
@@ -1,7 +1,5 @@
|
||||
#! /usr/bin/env bash
|
||||
|
||||
set -e
|
||||
|
||||
## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
|
||||
## Can also be used in docker.
|
||||
##
|
||||
@@ -195,7 +193,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
java_version=11
|
||||
gazebo_version=9
|
||||
elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
|
||||
java_version=13
|
||||
java_version=14
|
||||
gazebo_version=11
|
||||
else
|
||||
java_version=14
|
||||
|
||||
Submodule Tools/simulation-ignition updated: e78ad94a4f...794a8dc505
+1
-1
Submodule Tools/sitl_gazebo updated: d8366bf238...7fda4d311a
+1
-6
@@ -186,13 +186,8 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
|
||||
fi
|
||||
elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
|
||||
echo "Ignition Gazebo"
|
||||
if [[ -n "$HEADLESS" ]]; then
|
||||
ignition_headless="-s"
|
||||
else
|
||||
ignition_headless=""
|
||||
fi
|
||||
source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
|
||||
ign gazebo ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
|
||||
ign gazebo -r "${src_path}/Tools/simulation-ignition/worlds/ignition.world"&
|
||||
elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
|
||||
echo "FG setup"
|
||||
cd "${src_path}/Tools/flightgear_bridge/"
|
||||
|
||||
@@ -1,27 +0,0 @@
|
||||
-----BEGIN RSA PRIVATE KEY-----
|
||||
MIIEowIBAAKCAQEAz6O47E+sN+Yb+h6zkukagzYtJ6ZKq344b5N6H2CDg6z9LmG/
|
||||
GRAfOeNstsz1hXyyOCcUQ9f+vKHofTN0k+fWKy95h1mwY5Vc509gRsmpD96pNp4+
|
||||
NLp3GFDjawOTqsfyLQ7zKwU0YKT3qeI3o20n2KNxnGuyXt0SK3Ph2530wwzWBR2s
|
||||
pNxpKvV8MCR7K4AbeuxodxKXKrLl0v9BHfUGpLZHpfoFfvChuK3eXK4si06tr6xt
|
||||
RmLh6f6hxcn0SNKAK+WpPsH8mN4DqayGt7UZ5XVqY4M/J3pe+PFtstI2ocDSX5Oc
|
||||
kOg+yonXytDH6I9Lt2CSXjZDcCM2+7WlBprAywIDAQABAoIBAGZE1nUV/NX/cXIt
|
||||
IvdN9q//xBfOUOLMpVFXSwQfTkdRsdXhcPUQOsERYd9bbeZUd5cusE2GGkKgYFki
|
||||
Od4LhzH4DRx8MWOrEnofX2UeODXHzoJHSI5B9Ry14n034shv+Lj2rxBWXOjo987l
|
||||
y8+jmMecIP4REWal7igWyHyZ/Q7/5UCCCH5HaA4jgMhMdrD3zdxrlPhrW/egjfKF
|
||||
Q+444qG5HzUqh7tOBxvf9Yu9FujHC9NxKDNXZZ3WBpwVQIVPCxexb4b8FBZ4syCH
|
||||
iPbSgyw91CVfMvpWCYqDe7ubw4QDLHzDIiyKFtvHmIOgPo74y8fi1YYZ+3dy5mpa
|
||||
UNdC11kCgYEA3whbNd71AVcSykRZ23AxDcjtUoiFXlpzSFes0QBGrmi2WTc04r8d
|
||||
5Zr1E8oohc/zPJnUnCh93BAAu+HJsg4wKCqOWu5qR3NWcFp4/4voG9hsg1hgWD8Z
|
||||
6fMMjoZRezSxadyeeaDStnfSkYyE2J8DPpkK5mjFG9IbrylGfApzDf0CgYEA7lTi
|
||||
j2NQ+HNMlp/oOtsRZHkQtHYutv5SltG4E4DlwDHyA2ZLR2xB+D2ce5VdPQvfHu8F
|
||||
ioMquDLeJbOPeikwko+RmpbmCsODjLueZHBmGwAfkuE0A5TZUwTi+W6iYbrXLK6E
|
||||
TgNMaS4AGeBbioo6cdnMnYp9jdm63zvefet6oGcCgYAwr4BJmCvfaQR/BsCeuDTd
|
||||
D3lOxOJoIFJ9/jWJQggr1kvH2dc/j/yUvGi3My/5VdWA6wuQMv6WZR/j43vF1HcK
|
||||
rY95pgWpJzI9QGKdVgsK2QmG+mm9mbisaxPYoNV0kaIQu8oUPtkAX9OlVglByCRL
|
||||
K9lHRqOQWSMV72qldRp8eQKBgHVCJkXN42SZtbDV8/ghGCmKtwFStCEsd43kmOBf
|
||||
pqos6JlrltYJGVv9VCQplLoYQSqDBwLjDf2aaVm7QngkE9XH9SdN3tik4PA4zvEz
|
||||
q8jVArPNQT4R2erSmKmIGTRkLMG7CzUmwk1taHdSvzcmUyL4uYc5QBSubxat6gWh
|
||||
+a85AoGBAKgfnjjVoAWWvqEDLpfGPmE8lW+RaS7i5ff6QsSBx7uTEnHq6RNHuVnN
|
||||
et4pR87yIENeG8jMBiDCj8AGDtUNt9Ps9vWCPrf9HSOYoBUk+gZagU/9N+RBpuCM
|
||||
egoxtxIHM7HI+XIer+ZnZpVpgr+EoCaL7avx6k/susLQb7tqSBt1
|
||||
-----END RSA PRIVATE KEY-----
|
||||
@@ -1,38 +0,0 @@
|
||||
|
||||
0x30, 0x82, 0x1, 0x22, 0x30, 0xd, 0x6, 0x9,
|
||||
0x2a, 0x86, 0x48, 0x86, 0xf7, 0xd, 0x1, 0x1,
|
||||
0x1, 0x5, 0x0, 0x3, 0x82, 0x1, 0xf, 0x0,
|
||||
0x30, 0x82, 0x1, 0xa, 0x2, 0x82, 0x1, 0x1,
|
||||
0x0, 0xcf, 0xa3, 0xb8, 0xec, 0x4f, 0xac, 0x37,
|
||||
0xe6, 0x1b, 0xfa, 0x1e, 0xb3, 0x92, 0xe9, 0x1a,
|
||||
0x83, 0x36, 0x2d, 0x27, 0xa6, 0x4a, 0xab, 0x7e,
|
||||
0x38, 0x6f, 0x93, 0x7a, 0x1f, 0x60, 0x83, 0x83,
|
||||
0xac, 0xfd, 0x2e, 0x61, 0xbf, 0x19, 0x10, 0x1f,
|
||||
0x39, 0xe3, 0x6c, 0xb6, 0xcc, 0xf5, 0x85, 0x7c,
|
||||
0xb2, 0x38, 0x27, 0x14, 0x43, 0xd7, 0xfe, 0xbc,
|
||||
0xa1, 0xe8, 0x7d, 0x33, 0x74, 0x93, 0xe7, 0xd6,
|
||||
0x2b, 0x2f, 0x79, 0x87, 0x59, 0xb0, 0x63, 0x95,
|
||||
0x5c, 0xe7, 0x4f, 0x60, 0x46, 0xc9, 0xa9, 0xf,
|
||||
0xde, 0xa9, 0x36, 0x9e, 0x3e, 0x34, 0xba, 0x77,
|
||||
0x18, 0x50, 0xe3, 0x6b, 0x3, 0x93, 0xaa, 0xc7,
|
||||
0xf2, 0x2d, 0xe, 0xf3, 0x2b, 0x5, 0x34, 0x60,
|
||||
0xa4, 0xf7, 0xa9, 0xe2, 0x37, 0xa3, 0x6d, 0x27,
|
||||
0xd8, 0xa3, 0x71, 0x9c, 0x6b, 0xb2, 0x5e, 0xdd,
|
||||
0x12, 0x2b, 0x73, 0xe1, 0xdb, 0x9d, 0xf4, 0xc3,
|
||||
0xc, 0xd6, 0x5, 0x1d, 0xac, 0xa4, 0xdc, 0x69,
|
||||
0x2a, 0xf5, 0x7c, 0x30, 0x24, 0x7b, 0x2b, 0x80,
|
||||
0x1b, 0x7a, 0xec, 0x68, 0x77, 0x12, 0x97, 0x2a,
|
||||
0xb2, 0xe5, 0xd2, 0xff, 0x41, 0x1d, 0xf5, 0x6,
|
||||
0xa4, 0xb6, 0x47, 0xa5, 0xfa, 0x5, 0x7e, 0xf0,
|
||||
0xa1, 0xb8, 0xad, 0xde, 0x5c, 0xae, 0x2c, 0x8b,
|
||||
0x4e, 0xad, 0xaf, 0xac, 0x6d, 0x46, 0x62, 0xe1,
|
||||
0xe9, 0xfe, 0xa1, 0xc5, 0xc9, 0xf4, 0x48, 0xd2,
|
||||
0x80, 0x2b, 0xe5, 0xa9, 0x3e, 0xc1, 0xfc, 0x98,
|
||||
0xde, 0x3, 0xa9, 0xac, 0x86, 0xb7, 0xb5, 0x19,
|
||||
0xe5, 0x75, 0x6a, 0x63, 0x83, 0x3f, 0x27, 0x7a,
|
||||
0x5e, 0xf8, 0xf1, 0x6d, 0xb2, 0xd2, 0x36, 0xa1,
|
||||
0xc0, 0xd2, 0x5f, 0x93, 0x9c, 0x90, 0xe8, 0x3e,
|
||||
0xca, 0x89, 0xd7, 0xca, 0xd0, 0xc7, 0xe8, 0x8f,
|
||||
0x4b, 0xb7, 0x60, 0x92, 0x5e, 0x36, 0x43, 0x70,
|
||||
0x23, 0x36, 0xfb, 0xb5, 0xa5, 0x6, 0x9a, 0xc0,
|
||||
0xcb, 0x2, 0x3, 0x1, 0x0, 0x1,
|
||||
@@ -67,10 +67,8 @@ px4_add_board(
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mag_bias_estimator
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_autotune_attitude_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
@@ -106,7 +104,6 @@ px4_add_board(
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
sd_stress
|
||||
serial_test
|
||||
system_time
|
||||
top
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# Airmind Mindpx-v2 specific board MAVLink startup script.
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
# Start MAVLink on the USB port
|
||||
mavlink start -d /dev/ttyACM0
|
||||
@@ -19,7 +19,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_STM32_CCMEXCLUDE is not set
|
||||
|
||||
@@ -95,6 +95,7 @@
|
||||
/* AUX PWMs
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 8
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
@@ -152,6 +153,7 @@
|
||||
#define BOARD_ADC_PERIPH_5V_OC (0)
|
||||
#define BOARD_ADC_HIPOWER_5V_OC (0)
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
@@ -15,7 +15,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
|
||||
|
||||
add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/master/en/modules/modules_main.html")
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
TOOLCHAIN arm-none-eabi
|
||||
@@ -24,15 +22,15 @@ px4_add_board(
|
||||
#load_mon
|
||||
#sensors
|
||||
SYSTEMCMDS
|
||||
#i2cdetect
|
||||
#led_control
|
||||
i2cdetect
|
||||
led_control
|
||||
param
|
||||
#perf
|
||||
perf
|
||||
reboot
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
#ver
|
||||
ver
|
||||
work_queue
|
||||
)
|
||||
|
||||
@@ -4,8 +4,7 @@ px4_add_board(
|
||||
PLATFORM nuttx
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_FLASH
|
||||
NO_HELP
|
||||
#CONSTRAINED_FLASH
|
||||
CONSTRAINED_MEMORY
|
||||
EXTERNAL_METADATA
|
||||
ROMFSROOT cannode
|
||||
|
||||
@@ -15,7 +15,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
|
||||
@@ -1,10 +0,0 @@
|
||||
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
DRIVERS
|
||||
bootloaders
|
||||
)
|
||||
@@ -1,38 +0,0 @@
|
||||
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
|
||||
|
||||
add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/master/en/modules/modules_main.html")
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_MEMORY
|
||||
EXTERNAL_METADATA
|
||||
ROMFSROOT cannode
|
||||
UAVCAN_INTERFACES 1
|
||||
DRIVERS
|
||||
barometer/bmp388
|
||||
bootloaders
|
||||
gps
|
||||
imu/invensense/icm42688p
|
||||
magnetometer/bosch/bmm150
|
||||
safety_button
|
||||
tone_alarm
|
||||
uavcannode
|
||||
MODULES
|
||||
#ekf2
|
||||
#load_mon
|
||||
#sensors
|
||||
SYSTEMCMDS
|
||||
#i2cdetect
|
||||
#led_control
|
||||
param
|
||||
#perf
|
||||
reboot
|
||||
top
|
||||
topic_listener
|
||||
tune_control
|
||||
uorb
|
||||
#ver
|
||||
work_queue
|
||||
)
|
||||
@@ -1,37 +0,0 @@
|
||||
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
|
||||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
TOOLCHAIN arm-none-eabi
|
||||
ARCHITECTURE cortex-m4
|
||||
CONSTRAINED_FLASH
|
||||
NO_HELP
|
||||
CONSTRAINED_MEMORY
|
||||
EXTERNAL_METADATA
|
||||
ROMFSROOT cannode
|
||||
UAVCAN_INTERFACES 1
|
||||
DRIVERS
|
||||
barometer/bmp388
|
||||
bootloaders
|
||||
gps
|
||||
imu/invensense/icm42688p
|
||||
magnetometer/bosch/bmm150
|
||||
safety_button
|
||||
tone_alarm
|
||||
uavcannode
|
||||
MODULES
|
||||
#ekf2
|
||||
#load_mon
|
||||
#sensors
|
||||
SYSTEMCMDS
|
||||
#mft
|
||||
#mtd
|
||||
param
|
||||
#perf
|
||||
#reboot
|
||||
#system_time
|
||||
#top
|
||||
#topic_listener
|
||||
#ver
|
||||
#work_queue
|
||||
)
|
||||
@@ -1,13 +0,0 @@
|
||||
{
|
||||
"board_id": 82,
|
||||
"magic": "PX4FWv1",
|
||||
"description": "Firmware for the ARK RTK GPS board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "ARKRTKGPS",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 2080768,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -1,9 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board specific defaults
|
||||
#------------------------------------------------------------------------------
|
||||
|
||||
param set-default CBRK_IO_SAFETY 0
|
||||
|
||||
safety_button start
|
||||
tone_alarm start
|
||||
@@ -1,11 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# board sensors init
|
||||
#------------------------------------------------------------------------------
|
||||
gps start -d /dev/ttyS0 -p ubx
|
||||
|
||||
icm42688p -R 0 -s start
|
||||
|
||||
bmp388 -I -b 2 start
|
||||
|
||||
bmm150 -I -b 1 start
|
||||
@@ -1,68 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
CONFIG_ARCH_CHIP_STM32=y
|
||||
CONFIG_ARCH_CHIP_STM32F412CE=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=4096
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BINFMT_DISABLE=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DISABLE_MOUNTPOINT=y
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_DISABLE_PTHREAD=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FDCLONE_DISABLE=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=4096
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_LIB_BOARDCTL=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=0
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_NAME_MAX=0
|
||||
CONFIG_NUNGET_CHARS=0
|
||||
CONFIG_NXFONTS_DISABLE_16BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_1BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_24BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_2BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_32BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_4BPP=y
|
||||
CONFIG_NXFONTS_DISABLE_8BPP=y
|
||||
CONFIG_PREALLOC_TIMERS=0
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_DISABLE_BUFFERING=y
|
||||
CONFIG_STM32_NOEXT_VECTORS=y
|
||||
CONFIG_STM32_TIM8=y
|
||||
CONFIG_TASK_NAME_SIZE=0
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=4096
|
||||
@@ -1,152 +0,0 @@
|
||||
/************************************************************************************
|
||||
* configs/px4fmu/include/board.h
|
||||
* include/arch/board/board.h
|
||||
*
|
||||
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************************************/
|
||||
#include "board_dma_map.h"
|
||||
|
||||
#ifndef __ARCH_BOARD_BOARD_H
|
||||
#define __ARCH_BOARD_BOARD_H
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
|
||||
#include <stm32.h>
|
||||
|
||||
/* HSI - 8 MHz RC factory-trimmed
|
||||
* LSI - 32 KHz RC
|
||||
* HSE - 8 MHz Crystal
|
||||
* LSE - not installed
|
||||
*/
|
||||
#define STM32_BOARD_USEHSE 1
|
||||
#define STM32_BOARD_XTAL 8000000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
|
||||
/* Main PLL Configuration */
|
||||
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
|
||||
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(384)
|
||||
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_4
|
||||
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(8)
|
||||
#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2)
|
||||
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
|
||||
|
||||
#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
|
||||
#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
|
||||
#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
|
||||
|
||||
#define STM32_SYSCLK_FREQUENCY 96000000ul
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (96MHz) */
|
||||
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
|
||||
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* Same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
|
||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK (96MHz) */
|
||||
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK /* PCLK2 = HCLK */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY)
|
||||
|
||||
/* Timers driven from APB2 will be PCLK2 since no prescale division */
|
||||
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM9_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM10_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM11_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
|
||||
#define BOARD_TIM2_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM3_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM4_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM5_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM6_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM7_FREQUENCY (2 * STM32_PCLK1_FREQUENCY)
|
||||
#define BOARD_TIM8_FREQUENCY (2 * STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
/* UARTs */
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_2
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_3
|
||||
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_1
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_1
|
||||
|
||||
/* CAN */
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_1
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_1
|
||||
|
||||
/* I2C */
|
||||
|
||||
#define GPIO_MCU_I2C1_SCL
|
||||
#define GPIO_MCU_I2C1_SDA
|
||||
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1
|
||||
|
||||
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
|
||||
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
|
||||
|
||||
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
|
||||
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_4
|
||||
|
||||
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
|
||||
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
|
||||
|
||||
/* SPI */
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
|
||||
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
|
||||
|
||||
#endif /* __ARCH_BOARD_BOARD_H */
|
||||
@@ -1,43 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
// DMA1 Channel/Stream Selections
|
||||
//--------------------------------------------//---------------------------//----------------
|
||||
|
||||
|
||||
// DMA2 Channel/Stream Selections
|
||||
//--------------------------------------------//---------------------------//----------------
|
||||
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3
|
||||
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1 // DMA2, Stream 5, Channel 3
|
||||
@@ -1,161 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_OS_API is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
CONFIG_ARCH_CHIP_STM32=y
|
||||
CONFIG_ARCH_CHIP_STM32F412CE=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FS_BINFS=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
CONFIG_GRAN_INTR=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_DISABLE_IFCONFIG=y
|
||||
CONFIG_NSH_DISABLE_IFUPDOWN=y
|
||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_QUOTE=y
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=262144
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=32
|
||||
CONFIG_STM32_ADC1=y
|
||||
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
|
||||
CONFIG_STM32_DMA1=y
|
||||
CONFIG_STM32_DMA2=y
|
||||
CONFIG_STM32_FLASH_PREFETCH=y
|
||||
CONFIG_STM32_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32_I2C1=y
|
||||
CONFIG_STM32_I2C2=y
|
||||
CONFIG_STM32_JTAG_SW_ENABLE=y
|
||||
CONFIG_STM32_PWR=y
|
||||
CONFIG_STM32_RTC=y
|
||||
CONFIG_STM32_RTC_HSECLOCK=y
|
||||
CONFIG_STM32_RTC_MAGIC=0xfacefeee
|
||||
CONFIG_STM32_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
|
||||
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32_SPI1=y
|
||||
CONFIG_STM32_SPI1_DMA=y
|
||||
CONFIG_STM32_SPI1_DMA_BUFFER=1024
|
||||
CONFIG_STM32_SPI_DMA=y
|
||||
CONFIG_STM32_TIM8=y
|
||||
CONFIG_STM32_USART1=y
|
||||
CONFIG_STM32_USART2=y
|
||||
CONFIG_STM32_USART_BREAKS=y
|
||||
CONFIG_STM32_WWDG=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_USART1_BAUD=57600
|
||||
CONFIG_USART1_RXBUFSIZE=600
|
||||
CONFIG_USART1_TXBUFSIZE=1100
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_SERIAL_CONSOLE=y
|
||||
CONFIG_USART2_TXBUFSIZE=1100
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=2624
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
@@ -1,134 +0,0 @@
|
||||
/****************************************************************************
|
||||
* nuttx-config/scripts/canbootloader_script.ld
|
||||
*
|
||||
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
|
||||
* 256Kb of SRAM. SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 112Kb of SRAM beginning at address 0x2000:0000
|
||||
* 2) 16Kb of SRAM beginning at address 0x2001:c000
|
||||
* 3) 64Kb of SRAM beginning at address 0x2002:0000
|
||||
* 4) 64Kb of TCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The first 0x10000 of flash is reserved for the bootloader.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 32K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -1,146 +0,0 @@
|
||||
/****************************************************************************
|
||||
* scripts/ld.script
|
||||
*
|
||||
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
|
||||
* 256Kb of SRAM. SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 112Kb of SRAM beginning at address 0x2000:0000
|
||||
* 2) 16Kb of SRAM beginning at address 0x2001:c000
|
||||
* 3) 64Kb of SRAM beginning at address 0x2002:0000
|
||||
* 4) 64Kb of TCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The first 0x10000 of flash is reserved for the bootloader.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08010000, LENGTH = 448K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
EXTERN(_bootdelay_signature)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(8);
|
||||
/*
|
||||
* This section positions the app_descriptor_t used
|
||||
* by the make_can_boot_descriptor.py tool to set
|
||||
* the application image's descriptor so that the
|
||||
* uavcan bootloader has the ability to validate the
|
||||
* image crc, size etc
|
||||
*/
|
||||
KEEP(*(.app_descriptor))
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -1,68 +0,0 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
|
||||
|
||||
add_library(drivers_board
|
||||
boot_config.h
|
||||
boot.c
|
||||
led.c
|
||||
led.h
|
||||
)
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
canbootloader
|
||||
)
|
||||
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
|
||||
|
||||
else()
|
||||
add_library(drivers_board
|
||||
can.c
|
||||
i2c.cpp
|
||||
init.c
|
||||
led.c
|
||||
spi.cpp
|
||||
)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_spi
|
||||
drivers__led # drv_led_start
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
px4_layer
|
||||
arch_io_pins
|
||||
)
|
||||
endif()
|
||||
@@ -1,115 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* board internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/* BUTTON */
|
||||
#define GPIO_BTN_SAFETY /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
|
||||
|
||||
/* Safety LED */
|
||||
#define GPIO_LED_SAFETY /* PA1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
|
||||
|
||||
/* Tone alarm output. */
|
||||
#define TONE_ALARM_TIMER 2 /* timer 2 */
|
||||
#define TONE_ALARM_CHANNEL 1 /* channel 1 */
|
||||
#define GPIO_TONE_ALARM_IDLE /* PA0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_TONE_ALARM /* PA0 */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
|
||||
|
||||
/* CAN Silent mode control */
|
||||
#define GPIO_CAN1_SILENT_S0 /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
|
||||
|
||||
/* CAN termination software control */
|
||||
#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
|
||||
|
||||
/* ICM42688p FSYNC */
|
||||
#define GPIO_42688P_FSYNC /* PB8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
|
||||
|
||||
/* Boot config */
|
||||
#define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
|
||||
|
||||
/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
|
||||
#define GPIO_TIM1_CH1 /* PA8 */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
|
||||
#define GPIO_TIM1_CH2 /* PA9 */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
|
||||
#define GPIO_TIM1_CH3 /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
|
||||
|
||||
#define GPIO_I2C1_SCL_RESET /* PB6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
|
||||
#define GPIO_I2C1_SDA_RESET /* PB7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
|
||||
|
||||
#define GPIO_I2C2_SCL_RESET /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
|
||||
#define GPIO_I2C2_SDA_RESET /* PB9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
|
||||
|
||||
#define FLASH_BASED_PARAMS
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 3 /* use timer 3 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
|
||||
|
||||
#define PX4_GPIO_INIT_LIST { \
|
||||
GPIO_BTN_SAFETY, \
|
||||
GPIO_LED_SAFETY, \
|
||||
GPIO_I2C1_SCL_RESET, \
|
||||
GPIO_I2C1_SDA_RESET, \
|
||||
GPIO_I2C2_SCL_RESET, \
|
||||
GPIO_I2C2_SDA_RESET, \
|
||||
GPIO_42688P_FSYNC, \
|
||||
GPIO_BOOT_CONFIG, \
|
||||
GPIO_CAN1_TX, \
|
||||
GPIO_CAN1_RX, \
|
||||
GPIO_CAN1_SILENT_S0, \
|
||||
GPIO_CAN1_TERMINATION, \
|
||||
}
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
#define BOARD_HAS_N_S_RGB_LED 1
|
||||
#define BOARD_MAX_LEDS BOARD_HAS_N_S_RGB_LED
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -1,188 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
* Author: Ben Dyer <ben_dyer@mac.com>
|
||||
* Pavel Kirienko <pavel.kirienko@zubax.com>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <stdint.h>
|
||||
#include "boot_config.h"
|
||||
#include "board.h"
|
||||
|
||||
#include <debug.h>
|
||||
#include <string.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include "led.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
|
||||
stm32_configgpio(GPIO_CAN1_RX);
|
||||
stm32_configgpio(GPIO_CAN1_TX);
|
||||
stm32_configgpio(GPIO_CAN1_SILENT_S0);
|
||||
stm32_configgpio(GPIO_CAN1_TERMINATION);
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
||||
|
||||
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
|
||||
stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_deinitialize
|
||||
*
|
||||
* Description:
|
||||
* This function is called by the bootloader code prior to booting
|
||||
* the application. Is should place the HW into an benign initialized state.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void board_deinitialize(void)
|
||||
{
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_get_product_name
|
||||
*
|
||||
* Description:
|
||||
* Called to retrieve the product name. The returned value is a assumed
|
||||
* to be written to a pascal style string that will be length prefixed
|
||||
* and not null terminated
|
||||
*
|
||||
* Input Parameters:
|
||||
* product_name - A pointer to a buffer to write the name.
|
||||
* maxlen - The maximum number of charter that can be written
|
||||
*
|
||||
* Returned Value:
|
||||
* The length of characters written to the buffer.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
|
||||
{
|
||||
DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
|
||||
memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
|
||||
return UAVCAN_STRLEN(HW_UAVCAN_NAME);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_get_hardware_version
|
||||
*
|
||||
* Description:
|
||||
* Called to retrieve the hardware version information. The function
|
||||
* will first initialize the the callers struct to all zeros.
|
||||
*
|
||||
* Input Parameters:
|
||||
* hw_version - A pointer to a uavcan_hardwareversion_t.
|
||||
*
|
||||
* Returned Value:
|
||||
* Length of the unique_id
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
|
||||
{
|
||||
memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
|
||||
|
||||
hw_version->major = HW_VERSION_MAJOR;
|
||||
hw_version->minor = HW_VERSION_MINOR;
|
||||
|
||||
return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_indicate
|
||||
*
|
||||
* Description:
|
||||
* Provides User feedback to indicate the state of the bootloader
|
||||
* on board specific hardware.
|
||||
*
|
||||
* Input Parameters:
|
||||
* indication - A member of the uiindication_t
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
|
||||
|
||||
typedef begin_packed_struct struct led_t {
|
||||
uint8_t red;
|
||||
uint8_t green;
|
||||
uint8_t blue;
|
||||
uint8_t hz;
|
||||
} end_packed_struct led_t;
|
||||
|
||||
static const led_t i2l[] = {
|
||||
|
||||
led(0, off, 0, 0, 0, 0),
|
||||
led(1, reset, 128, 128, 128, 30),
|
||||
led(2, autobaud_start, 0, 128, 0, 1),
|
||||
led(3, autobaud_end, 0, 128, 0, 2),
|
||||
led(4, allocation_start, 0, 0, 64, 2),
|
||||
led(5, allocation_end, 0, 128, 64, 3),
|
||||
led(6, fw_update_start, 32, 128, 64, 3),
|
||||
led(7, fw_update_erase_fail, 32, 128, 32, 3),
|
||||
led(8, fw_update_invalid_response, 64, 0, 0, 1),
|
||||
led(9, fw_update_timeout, 64, 0, 0, 2),
|
||||
led(a, fw_update_invalid_crc, 64, 0, 0, 4),
|
||||
led(b, jump_to_app, 0, 128, 0, 10),
|
||||
|
||||
};
|
||||
|
||||
void board_indicate(uiindication_t indication)
|
||||
{
|
||||
rgb_led(i2l[indication].red,
|
||||
i2l[indication].green,
|
||||
i2l[indication].blue,
|
||||
i2l[indication].hz);
|
||||
}
|
||||
@@ -1,130 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file boot_config.h
|
||||
*
|
||||
* bootloader definitions that configures the behavior and options
|
||||
* of the Boot loader
|
||||
* This file is relies on the parent folder's boot_config.h file and defines
|
||||
* different usages of the hardware for bootloading
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
/* Bring in the board_config.h definitions
|
||||
* todo:make this be pulled in from a targed's build
|
||||
* files in nuttx*/
|
||||
|
||||
#include "board_config.h"
|
||||
#include "uavcan.h"
|
||||
#include <nuttx/compiler.h>
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <stm32_flash.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
|
||||
|
||||
//todo:wrap OPT_x in in ifdefs for command line definitions
|
||||
#define OPT_TBOOT_MS 5000
|
||||
#define OPT_NODE_STATUS_RATE_MS 800
|
||||
#define OPT_NODE_INFO_RATE_MS 50
|
||||
#define OPT_BL_NUMBER_TIMERS 7
|
||||
|
||||
/*
|
||||
* This Option set is set to 1 ensure a provider of firmware has an
|
||||
* opportunity update the node's firmware.
|
||||
* This Option is the default policy and can be overridden by
|
||||
* a jumper
|
||||
* When this Policy is set, the node will ignore tboot and
|
||||
* wait indefinitely for a GetNodeInfo request before booting.
|
||||
*
|
||||
* OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
|
||||
* the polarity of the jumper to be True Active
|
||||
*
|
||||
* wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
|
||||
* Jumper
|
||||
* yes 1 0 x
|
||||
* yes 1 1 Active
|
||||
* no 1 1 Not Active
|
||||
* no 0 0 X
|
||||
* yes 0 1 Active
|
||||
* no 0 1 Not Active
|
||||
*
|
||||
*/
|
||||
#define OPT_WAIT_FOR_GETNODEINFO 0
|
||||
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
|
||||
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
|
||||
|
||||
#define OPT_ENABLE_WD 1
|
||||
|
||||
#define OPT_RESTART_TIMEOUT_MS 20000
|
||||
|
||||
/* Reserved for the Booloader */
|
||||
#define OPT_BOOTLOADER_SIZE_IN_K (1024*64)
|
||||
|
||||
/* Reserved for the application out of the total
|
||||
* system flash minus the BOOTLOADER_SIZE_IN_K
|
||||
*/
|
||||
#define OPT_APPLICATION_RESERVER_IN_K 0
|
||||
|
||||
#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K
|
||||
#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
|
||||
|
||||
|
||||
#define FLASH_BASE STM32_FLASH_BASE
|
||||
#define FLASH_SIZE STM32_FLASH_SIZE
|
||||
|
||||
#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
|
||||
#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
|
||||
#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
|
||||
#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
|
||||
#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
|
||||
|
||||
/* If this board uses big flash that have large sectors */
|
||||
|
||||
#define OPT_USE_YIELD
|
||||
|
||||
/* Bootloader Option*****************************************************************
|
||||
*
|
||||
*/
|
||||
#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
|
||||
@@ -1,130 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file can.c
|
||||
*
|
||||
* Board-specific CAN functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/can/can.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "arm_arch.h"
|
||||
|
||||
#include "stm32.h"
|
||||
#include "stm32_can.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#ifdef CONFIG_CAN
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
/* Configuration ********************************************************************/
|
||||
|
||||
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
|
||||
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
|
||||
# undef CONFIG_STM32_CAN2
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_CAN1
|
||||
# define CAN_PORT 1
|
||||
#else
|
||||
# define CAN_PORT 2
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
int can_devinit(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: can_devinit
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following interface to work with
|
||||
* examples/can.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int can_devinit(void)
|
||||
{
|
||||
static bool initialized = false;
|
||||
struct can_dev_s *can;
|
||||
int ret;
|
||||
|
||||
/* Check if we have already initialized */
|
||||
|
||||
if (!initialized) {
|
||||
/* Call stm32_caninitialize() to get an instance of the CAN interface */
|
||||
|
||||
can = stm32_caninitialize(CAN_PORT);
|
||||
|
||||
if (can == NULL) {
|
||||
canerr("ERROR: Failed to get CAN interface\n");
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Register the CAN driver at "/dev/can0" */
|
||||
|
||||
ret = can_register("/dev/can0", can);
|
||||
|
||||
if (ret < 0) {
|
||||
canerr("ERROR: can_register failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Now we are initialized */
|
||||
|
||||
initialized = true;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -1,39 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusInternal(1),
|
||||
initI2CBusInternal(2),
|
||||
};
|
||||
@@ -1,148 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file init.c
|
||||
*
|
||||
* board specific early startup code. This file implements the
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialization.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/tasks.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <syslog.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
#include <stm32_uart.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
#include <drivers/drv_watchdog.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
|
||||
#include <px4_platform_common/init.h>
|
||||
#include <px4_platform/gpio.h>
|
||||
|
||||
# if defined(FLASH_BASED_PARAMS)
|
||||
# include <parameters/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
watchdog_init();
|
||||
|
||||
/* configure pins */
|
||||
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||
px4_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
// Configure SPI all interfaces GPIO & enable power.
|
||||
stm32_spiinitialize();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform application specific initialization. This function is never
|
||||
* called directly from application code, but only indirectly via the
|
||||
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
|
||||
*
|
||||
* Input Parameters:
|
||||
* arg - The boardctl() argument is passed to the board_app_initialize()
|
||||
* implementation without modification. The argument has no
|
||||
* meaning to NuttX; the meaning of the argument is a contract
|
||||
* between the board-specific initalization logic and the the
|
||||
* matching application logic. The value cold be such things as a
|
||||
* mode enumeration value, a set of DIP switch switch settings, a
|
||||
* pointer to configuration data read from a file or serial FLASH,
|
||||
* or whatever you would like to do with it. Every implementation
|
||||
* should accept zero/NULL as a default configuration.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure to indicate the nature of the failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
px4_platform_init();
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t params_sector_map[] = {
|
||||
{2, 16 * 1024, 0x08008000},
|
||||
{3, 16 * 1024, 0x0800C000},
|
||||
{0, 0, 0},
|
||||
};
|
||||
|
||||
/* Initialize the flashfs layer to use heap allocated memory */
|
||||
int result = parameter_flashfs_init(params_sector_map, NULL, 0);
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif // FLASH_BASED_PARAMS
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -1,124 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file led.c
|
||||
*
|
||||
* LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "led.h"
|
||||
|
||||
#define TMR_BASE STM32_TIM1_BASE
|
||||
#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN
|
||||
#define TMR_REG(o) (TMR_BASE+(o))
|
||||
|
||||
void rgb_led(int r, int g, int b, int freqs)
|
||||
{
|
||||
|
||||
long fosc = TMR_FREQUENCY;
|
||||
long prescale = 2048;
|
||||
long p1s = fosc / prescale;
|
||||
long p0p5s = p1s / 2;
|
||||
uint16_t val;
|
||||
static bool once = 0;
|
||||
|
||||
if (!once) {
|
||||
once = 1;
|
||||
|
||||
/* Enabel Clock to Block */
|
||||
modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
|
||||
|
||||
/* Reload */
|
||||
|
||||
val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
|
||||
val |= ATIM_EGR_UG;
|
||||
putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
|
||||
|
||||
/* Set Prescaler STM32_TIM_SETCLOCK */
|
||||
|
||||
putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
|
||||
|
||||
/* Enable STM32_TIM_SETMODE*/
|
||||
|
||||
putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
|
||||
|
||||
|
||||
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
|
||||
(ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
|
||||
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
|
||||
putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
|
||||
ATIM_CCER_CC2E | ATIM_CCER_CC2P |
|
||||
ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
|
||||
|
||||
|
||||
stm32_configgpio(GPIO_TIM1_CH1);
|
||||
stm32_configgpio(GPIO_TIM1_CH2);
|
||||
stm32_configgpio(GPIO_TIM1_CH3);
|
||||
|
||||
/* master output enable = on */
|
||||
putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
|
||||
}
|
||||
|
||||
long p = freqs == 0 ? p1s : p1s / freqs;
|
||||
putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
|
||||
|
||||
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
|
||||
|
||||
putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
|
||||
putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
|
||||
putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
|
||||
|
||||
val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
|
||||
|
||||
if (freqs == 0) {
|
||||
val &= ~ATIM_CR1_CEN;
|
||||
|
||||
} else {
|
||||
val |= ATIM_CR1_CEN;
|
||||
}
|
||||
|
||||
putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
|
||||
|
||||
}
|
||||
@@ -1,37 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane<david_s5@nscdg.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__BEGIN_DECLS
|
||||
void rgb_led(int r, int g, int b, int freqs);
|
||||
__END_DECLS
|
||||
@@ -1,17 +0,0 @@
|
||||
# UAVCAN boot loadable Module ID
|
||||
set(uavcanblid_sw_version_major 0)
|
||||
set(uavcanblid_sw_version_minor 1)
|
||||
add_definitions(
|
||||
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
|
||||
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
|
||||
)
|
||||
|
||||
set(uavcanblid_hw_version_major 0)
|
||||
set(uavcanblid_hw_version_minor 82)
|
||||
set(uavcanblid_name "\"org.ark.can-rtk-gps\"")
|
||||
|
||||
add_definitions(
|
||||
-DHW_UAVCAN_NAME=${uavcanblid_name}
|
||||
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
|
||||
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
|
||||
)
|
||||
@@ -7,6 +7,7 @@ px4_add_board(
|
||||
DRIVERS
|
||||
adc/board_adc
|
||||
barometer/maiertek/mpc2520
|
||||
camera_capture
|
||||
gps
|
||||
#heater
|
||||
imu/invensense/icm20602
|
||||
@@ -25,10 +26,8 @@ px4_add_board(
|
||||
land_detector
|
||||
load_mon
|
||||
logger
|
||||
mag_bias_estimator
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_autotune_attitude_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
|
||||
@@ -14,3 +14,6 @@ mavlink stream -d ${GIMBAL_TTY} -s GIMBAL_DEVICE_SET_ATTITUDE -r 20
|
||||
|
||||
# optical flow
|
||||
mavlink start -d /dev/ttyS2 -m custom -b 500000
|
||||
|
||||
# Start MAVLink on the USB port
|
||||
mavlink start -d /dev/ttyACM0
|
||||
|
||||
@@ -20,7 +20,6 @@
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
|
||||
@@ -66,10 +66,8 @@ px4_add_board(
|
||||
load_mon
|
||||
local_position_estimator
|
||||
logger
|
||||
mag_bias_estimator
|
||||
mavlink
|
||||
mc_att_control
|
||||
mc_autotune_attitude_control
|
||||
mc_hover_thrust_estimator
|
||||
mc_pos_control
|
||||
mc_rate_control
|
||||
@@ -104,7 +102,6 @@ px4_add_board(
|
||||
reboot
|
||||
reflect
|
||||
sd_bench
|
||||
sd_stress
|
||||
serial_test
|
||||
system_time
|
||||
top
|
||||
|
||||
@@ -101,6 +101,7 @@
|
||||
/* PWM
|
||||
*/
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 9
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 9
|
||||
|
||||
#define BOARD_CAPTURE_GPIO /* PD14 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN14)
|
||||
|
||||
@@ -138,6 +139,7 @@
|
||||
#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
|
||||
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user